Robot system and control method thereof

Abstract

To provide a robot system which can make a subject of an operation of a robot clear and secure safety during the operation of the robot sufficiently.SOLUTION: A robot system includes: a robot 101 disposed in a first space 100; a second operation device 210A disposed in a second space 200; a first operation device 110 disposed in the first space 100 and including a first permission device which is configured to turn on / off an execution permission of operation information from the second operation device 210A to a controller; and the controller which is configured to cause the robot 101 to operate based on the operation information, which is input from the operation device 210A by a second operator when the first operator operates the first permission device to permit execution of the operation information.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a robot system and a control method thereof.

Background Art

[0002] An industrial robot control system is known that enables remote safety confirmation at the start of operation of an industrial robot and aims to improve safety (see, for example, Patent Document 1).

[0003] In the industrial robot control system disclosed in Patent Document 1, when the other of the first operation unit and the second operation unit becomes on while one of them is on, the control device transitions the industrial robot from the stopped state to the operable state.

[0004] Thereby, when any of a plurality of operators turns on the operation unit, the industrial robot can be switched from the stopped state to the operable state. For this reason, it is said that safety management based on the general will of a plurality of operators becomes possible.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the industrial robot control system disclosed in Patent Document 1, among a plurality of operators, it is not described which operator executes the operation of the industrial robot. For this reason, it is unclear whether the industrial robot operates by the operation of an operator who can directly visually recognize the industrial robot or by the operation of an operator in a remote location where the robot cannot be directly visually recognized, and there is still room for improvement.

[0007] Compared with the industrial robot control system disclosed in the above Patent Document 1, the present disclosure aims to provide a robot system and its control method that clarify the subject of robot operation and can sufficiently ensure the safety when the robot operates.

Means for Solving the Problems

[0008] In order to solve the above conventional problems, a robot system according to the present disclosure includes a robot disposed in a first space, a first operating device disposed in the first space and configured to output operation information, a second operating device disposed in a second space that is a space isolated from the first space and configured to output the operation information, and a control device. The first operating device includes a first permitter configured to turn on / off the execution permission of the operation information from the second operating device to the control device. When the first permitter permits the execution of the operation information by the operation of a first operator, the control device operates the robot based on the operation information input from the second operating device by the operation of a second operator. When the first permitter does not permit the execution of the operation information by the operation of the first operator, the control device is configured not to operate the robot based on the operation information even if the operation information is input from the second operating device by the operation of the second operator.

[0009] Thereby, a first operator who is in the vicinity of the robot and can directly visually recognize the robot can ensure the safety when the robot becomes operable by operating the first permitter.

[0010] In addition, when the first permitter permits the execution of the operation information, the control device operates the robot based on the input operation information when a second operator who is at a remote location where the robot cannot be directly visually recognized operates the operating device. For this reason, the subject of robot operation becomes clear, and the safety when the robot operates can also be sufficiently ensured.

[0011] In addition, the method for controlling a robot system according to the present disclosure includes a robot disposed in a first space, a first operating device disposed in the first space and configured to output operation information, a second operating device disposed in a second space which is a space isolated from the first space and configured to output the operation information, and a control device. The first operating device includes a first permitter configured to turn on / off the execution permission of the operation information from the second operating device to the control device. When the first permitter permits the execution of the operation information by an operation of a first operator, the control device operates the robot based on the operation information input from the second operating device by an operation of a second operator. When the first permitter does not permit the execution of the operation information by an operation of the first operator, even if the operation information is input from the second operating device by an operation of the second operator, the control device is configured not to operate the robot based on the operation information.

[0012] Thereby, a first operator who is in the vicinity of the robot and can directly visually recognize the robot can ensure safety when the robot becomes operable by operating the first permitter.

[0013] In addition, when the first permitter permits the execution of the operation information, the control device allows a second operator who is at a remote location where the robot cannot be directly visually recognized to operate the operating device and operate the robot based on the input operation information. Therefore, the subject of the operation of the robot becomes clear, and the safety when the robot operates can be sufficiently ensured.

[0014] The above objects, other objects, features, and advantages of the present disclosure will become apparent from the following detailed description of the preferred embodiments with reference to the accompanying drawings.

Effect of the Invention

[0015] According to the robot system and its control method of the present disclosure, the subject of the robot operation can be clarified, and the safety when the robot operates can be fully ensured.

Brief Description of the Drawings

[0016]

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Embodiments for Carrying Out the Invention

[0017] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In all the drawings, the same or corresponding parts are denoted by the same reference numerals, and redundant descriptions are omitted. Also, in all the drawings, the components for explaining the present disclosure are illustrated in an extract, and other components may be omitted from the illustration. Furthermore, the present disclosure is not limited to the following embodiments.

[0018] (Embodiment 1) Hereinafter, an example of the robot system according to Embodiment 1 will be described with reference to FIGS. 1 to 4.

[0019] [Configuration of Robot System] FIGS. 1 and 2 are schematic diagrams showing the schematic configuration of the robot system according to Embodiment 1.

[0020] As shown in FIGS. 1 and 2, the robot system 300 according to Embodiment 1 includes a robot 101, a first operation device 110, a second operation device 210A, and a control device 190. The robot 101, the first operation device 110, and the control device 190 are arranged in the first space 100, and the second operation device 210A is arranged in the second space 200.

[0021] The first space 100 and the second space 200 are spaces separated from each other. The first space 100 and the second space 200 are isolated by a partition member 310.

[0022] The first space 100 may be a space adjacent to the robot 101 and where the robot 101 can be directly visually recognized. Also, the second space 200 may be a space where the robot 101 cannot be directly visually recognized, or a space where it can be visually recognized through a partition wall. For example, a part of the partition member 310 may be composed of a transparent member such as a glass plate, and may be configured such that an operator (second operator) can see the inside of the first space 100 from the outside (second space 200) through the transparent member. Here, the operator in the first space 100 is referred to as the first operator, and the operator in the second space 200 is referred to as the second operator.

[0023] The first operation device 110 is configured to operate the robot 101. As the first operation device 110, for example, a known operation device such as a joystick, a keyboard, a numeric keypad, or a teach pendant can be used.

[0024] Also, a device configured to transmit force sense information or voice information detected by a force sensor provided on the end effector 12 of the robot 101, which will be described later, to the operator may be arranged in the first operation device 110. Examples of such a device include a vibration motor, a speaker, and a mechanism for expanding and contracting the housing constituting the gripping part.

[0025] Note that the first operation device 110 may be configured to be portable and carried by the operator (first operator). Also, the first operation device 110 and the robot 101 may be in a master-slave system. Also, a display (monitor, display) may be provided in the first operation device 110. Further, a plurality of robots 101 and a plurality of first operation devices 110 corresponding to the plurality of robots 101 may be provided.

[0026] Further, the first operation device 110 includes a first permittor 111 and an emergency stop device 112. The first permittor 111 is configured to turn on / off the execution permission of operation information from the second operation device 210A to the control device 190. Note that when the first permittor 111 turns off the execution permission of operation information from the second operation device 210A to the control device 190, it may be configured such that the operation information is not input to the control device 190, or the operation information is not output from the second operation device 210A, or the control device 190 is configured to ignore the operation information input from the second operation device 210A.

[0027] The first permittor 111 may be configured by, for example, a switch. The first permittor 111 (the first operation device 110) may be connected to the control device 190 by wire. Further, the first permittor 111 may be connected to the control device 190 by wireless communication via the first portable communication terminal 121 or the first communication device, which will be described later. Furthermore, the first permittor 111 may be connected to the control device 190 by wireless communication via the first portable communication terminal 121 or the first communication device and the communication network 320.

[0028] The emergency stop device 112 is configured to emergency stop the robot 101 by stopping the power supply to the robot 101. The emergency stop device 112 may be configured by, for example, a switch.

[0029] The emergency stop device 112 (the first operation device 110) may be connected to the control device 190 by wire. Further, the emergency stop device 112 may be connected to the control device 190 by wireless communication via the first portable communication terminal 121 or the first communication device, which will be described later. Furthermore, the emergency stop device 112 may be connected to the control device 190 by wireless communication via the first portable communication terminal 121 or the first communication device and the communication network 320.

[0030] Further, as shown in FIG. 2, the first permittor 111 and the emergency stop device 112 may be arranged in one housing. For example, the first permittor 111 and the emergency stop device 112 may each be constituted by an icon on the touch panel of the tablet terminal, and may be configured to be turned on / off by tapping the icon. Needless to say, the first permittor 111 and the emergency stop device 112 may each be arranged in a different housing and may be constituted by a button-type switch.

[0031] The second operating device 210A is configured to operate the robot 101. As the second operating device 210A, for example, a known operating device such as a joystick, a keyboard, a numeric keypad, or a teach pendant can be used.

[0032] Further, a device configured to transmit the force sense information detected by the force sensor provided on the end effector 12 of the robot 101 or the voice information described later to the operator may be arranged in the second operating device 210A. Examples of the device include a vibration motor, a speaker, and a mechanism for expanding and contracting the housing constituting the gripping portion.

[0033] Note that the second operating device 210A may be configured to be carried by an operator (second operator) and be portable. Also, the second operating device 210A and the robot 101 may be in a master-slave system. Further, the second operating device 210A may be provided with a display (monitor, display).

[0034] In the robot system 300 according to the first embodiment, a plurality of second operating devices 210A are provided, and the first permittor 111 may be configured to turn on / off the execution permission of the operation information from the second operating device 210A selected by the first operator to the control device 190.

[0035] The robot 101 is configured to operate based on the operation information input from the first operating device 110 or the second operating device 210A.

[0036] Here, with reference to FIG. 3, the configuration of the robot 101 will be described in detail. In the following, as the robot 101, a vertically articulated robot will be described, but as the robot 101, other robots such as a horizontally articulated robot may be adopted.

[0037] FIG. 3 is a schematic diagram showing the schematic configuration of the robot in the robot system shown in FIGS. 1 and 2.

[0038] As shown in FIG. 3, the robot 101 is an articulated robot arm having a linkage of a plurality of links (here, the first link 11a to the sixth link 11f), a plurality of joints (here, the first joint JT1 to the sixth joint JT6), and a base 15 that supports these.

[0039] In the first joint JT1, the base 15 and the base end portion of the first link 11a are rotatably connected about an axis extending in the vertical direction. In the second joint JT2, the tip end portion of the first link 11a and the base end portion of the second link 11b are rotatably connected about an axis extending in the horizontal direction. In the third joint JT3, the tip end portion of the second link 11b and the base end portion of the third link 11c are rotatably connected about an axis extending in the horizontal direction.

[0040] Also, in the fourth joint JT4, the tip end portion of the third link 11c and the base end portion of the fourth link 11d are rotatably connected about an axis extending in the longitudinal direction of the fourth link 11d. In the fifth joint JT5, the tip end portion of the fourth link 11d and the base end portion of the fifth link 11e are rotatably connected about an axis orthogonal to the longitudinal direction of the fourth link 11d. In the sixth joint JT6, the tip end portion of the fifth link 11e and the base end portion of the sixth link 11f are rotatably connected so as to be twistable.

[0041] And a mechanical interface is provided at the tip end portion of the sixth link 11f. An end effector 12 corresponding to the work content is detachably attached to this mechanical interface.

[0042] Further, in the first joint JT1 to the sixth joint JT6, a driver (drive motor), which is an example of an actuator that relatively rotates two members to which each joint is connected, is provided (none of them are shown). The driver may be, for example, a servo motor servo-controlled by the control device 190. Also, in the first joint JT1 to the sixth joint JT6, a rotation sensor that detects the rotational position of the drive motor and a current sensor that detects a current that controls the rotation of the driver are provided (none of them are shown). The rotation sensor may be, for example, an encoder.

[0043] Also, as shown in FIGS. 1 and 2, a photographing device 120 and a first portable communication terminal 121 may be arranged in the first space 100. The photographing device 120 may be installed on the partition member 310 that forms the first space 100, and may be held by a robot different from the robot 101.

[0044] The photographing device 120 is configured to photograph an image and / or video and output the photographed image information and / or video information to the control device 190. As the photographing device 120, for example, a video camera may be used. Also, the photographing device 120 may be configured to be detachable from the first operation device 110. For example, the first operation device 110 may be provided with an attachment member (mounting bracket), and the photographing device 120 may be attached by the attachment member.

[0045] Also, the photographing device 120 may be configured by a camera built in the first portable communication terminal 121. In this case, the first portable communication terminal 121 may be configured to be detachable from the first operation device 110. As the first portable communication terminal 121, a known portable communication terminal can be used, and for example, it may be configured by a smartphone or the like.

[0046] In addition, a display device 220 and a second portable communication terminal 222 may be arranged in the second space 200. The display device 220 is configured to display the image information and / or video information captured by the imaging device 120. The display device 220 may be configured as a stationary display, for example, one that is placed on a desk, the floor, etc. and used. Further, the display device 220 may be configured as a head-mounted display or glasses that an operator wears and uses.

[0047] The second portable communication terminal 222 is configured to input various types of information (signals) output from the second operation device 210A to the control device 190 via the communication network 320 and the first portable communication terminal 121. The second portable communication terminal 222 may be configured as a smartphone.

[0048] Furthermore, a first communication device may be arranged in the first space 100 instead of the first portable communication terminal 121. The first communication device is configured to perform data communication with the communication network 320. As the first communication device, a known wireless communication device or a wired communication device may be used.

[0049] Similarly, a second communication device may be arranged in the second space 200 instead of the second portable communication terminal 222. The second communication device is configured to perform data communication with the communication network 320. As the second communication device, a known wireless communication device or a wired communication device may be used.

[0050] In this case, various types of information (signals) output from the second operation device 210A may be input to the control device 190 via the second communication device, the communication network 320, and the first portable communication terminal 121. Also, various types of information (signals) output from the second operation device 210A may be input to the control device 190 via the second communication device, the communication network 320, and the first communication device.

[0051] The control device 190 includes an arithmetic processor 190a, a memory 190b, and an input device 190c. The arithmetic processor 190a is composed of a microprocessor, a CPU, etc., and controls various operations of the robot system 300 by reading and executing software such as a basic program stored in the memory 190b.

[0052] The memory 190b stores information such as a basic program and various fixed data. The memory 190b does not have to be single, and may be configured as a plurality of memories (for example, a random access memory and a hard disk drive). When the arithmetic processor 190a is composed of a microcomputer, at least a part of the memory 190b may be configured as an internal memory of the microcomputer, or may be configured as an independent memory.

[0053] The input device 190c enables various parameters related to the control of the robot system 300 or other data, etc. to be input to the arithmetic processor 190a, and is composed of a known input device such as a keyboard, a touch panel, a button switch group, etc.

[0054] Note that the control device 190 may be composed of a single control device 190 that performs centralized control, or may be composed of a plurality of control devices 190 that cooperate with each other to perform distributed control. Further, the control device 190 may be composed of a microcomputer, or may be composed of an MPU, a PLC (Programmable Logic Controller), a logic circuit, etc.

[0055] [Operations and Effects of the Robot System] Next, the operations and effects of the robot system 300 according to the first embodiment will be described in detail with reference to FIGS. 1 to 4. The following operations are executed by the arithmetic processor 190a of the control device 190 reading the program stored in the memory 190b.

[0056] FIG. 4 is a flowchart showing an example of the operation of the robot system according to the first embodiment.

[0057] As shown in FIG. 4, the arithmetic processor 190a of the control device 190 determines whether a control signal has been input from the first permittor 111 (step S10). When the arithmetic processor 190a of the control device 190 determines that no control signal has been input from the first permittor 111 (No in step S10), for example, after 50 msec, the process of step S10 is executed again.

[0058] On the other hand, when the arithmetic processor 190a of the control device 190 determines that a control signal has been input from the first permittor 111 (Yes in step S10), it determines whether operation information has been input from the operation device 210 via the second portable communication terminal 222, the communication network 320, and the first portable communication terminal 121 (step S11).

[0059] When the arithmetic processor 190a of the control device 190 determines that no operation information has been input from the operation device 210 (No in step S11), the processes of step S10 and step S11 are repeated until operation information is input from the operation device 210.

[0060] On the other hand, when the arithmetic processor 190a of the control device 190 determines that operation information has been input from the operation device 210 (Yes in step S11), it determines whether the control signal input from the first permittor 111 in step S10 is a signal for turning on the execution permission of the operation information from the operation device 210 to the control device 190 (step S12).

[0061] When the arithmetic processor 190a of the control device 190 determines that the control signal input from the first permittor 111 in step S10 is a signal for turning on the execution permission (Yes in step S12), it operates the robot 101 based on the operation information input in step S11 and ends this program.

[0062] On the other hand, when the arithmetic processor 190a of the control device 190 determines in step S10 that the control signal input from the first permittor 111 is not a signal for turning on the execution permission (No in step S12), based on the operation information input in step S11, it does not operate the robot 101 (step S14) and ends this program.

[0063] In this case, the arithmetic processor 190a of the control device 190 may cause the first permittor 111 to display on the display device 220 that the execution permission of the operation information is off. Also, the arithmetic processor 190a of the control device 190 may cause the first permittor 111 to display on the display (display screen) of the second portable communication terminal 222 that the execution permission of the operation information is off.

[0064] The robot system according to the first embodiment includes a robot arranged in a first space, a first operation device arranged in the first space and configured to output operation information, a second operation device arranged in a second space that is a space isolated from the first space and configured to output operation information, and a control device. The first operation device includes a first permittor configured to turn on / off the execution permission of the operation information from the second operation device to the control device. The control device, when the first permittor permits the execution of the operation information by the operation of the first operator, operates the robot based on the operation information input from the second operation device by the operation of the second operator; when the first permittor does not permit the execution of the operation information by the operation of the first operator, even if the operation information is input from the second operation device by the operation of the second operator, it is configured not to operate the robot based on the operation information.

[0065] Further, in the robot system according to the first embodiment, the robot system may further include a photographing device arranged in the first space and a display device arranged in the second space and configured to display video information or image information photographed by the photographing device.

[0066] Also, in the robot system according to the first embodiment, the imaging device may be configured to be detachable from the first operating device.

[0067] Also, in the robot system according to the first embodiment, the imaging device may be constituted by a first portable communication terminal.

[0068] Also, in the robot system according to the first embodiment, the first operating device may be connected to the control device by wire, and the second operating device may be configured to input operation information to the control device via the second portable communication terminal, the communication network, the first portable communication terminal, and the first operating device.

[0069] Also, in the robot system according to the first embodiment, the control device may be configured to operate the robot based on the operation information input from the first operating device when the operation information is input from the second operating device even if the first permittor permits the execution of the operation information, and when the operation information is input from the first operating device.

[0070] Also, in the robot system according to the first embodiment, the robot system may include a plurality of robots and a plurality of first operating devices.

[0071] Furthermore, in the robot system according to the first embodiment, the robot system may include a plurality of second operating devices, and the first permittor may be configured to turn on / off the permission for the execution of operation information from the selected second operating device to the control device.

[0072] The control method of the robot system according to Embodiment 1 is such that the robot system includes a robot disposed in a first space, a first operating device disposed in the first space and configured to output operation information, a second operating device disposed in a second space which is a space isolated from the first space and configured to output operation information, and a control device. The first operating device includes a first permittor configured to turn on / off the execution permission of the operation information from the second operating device to the control device. When the first permittor permits the execution of the operation information by the operation of the first operator, the control device operates the robot based on the operation information input from the second operating device by the operation of the second operator. When the first permittor does not permit the execution of the operation information by the operation of the first operator, even if the operation information is input from the second operating device by the operation of the second operator, the control device is configured not to operate the robot based on the operation information.

[0073] Further, in the control method of the robot system according to Embodiment 1, the robot system may further include a photographing device disposed in the first space and a display device disposed in the second space and configured to display video information or image information photographed by the photographing device.

[0074] Further, in the control method of the robot system according to Embodiment 1, the photographing device may be configured to be detachable from the first operating device.

[0075] Further, in the control method of the robot system according to Embodiment 1, the photographing device may be configured by a first portable communication terminal.

[0076] Further, in the control method of the robot system according to Embodiment 1, the first operating device may be connected to the control device by wire, and the second operating device may be configured to input operation information to the control device via a second portable communication terminal, a communication network, the first portable communication terminal, and the first operating device.

[0077] In addition, in the control method of the robot system according to the first embodiment, when the first permittor permits the execution of the operation information, even if the operation information is input from the second operation device, when the operation information is input from the first operation device, the control device may be configured to operate the robot based on the operation information input from the first operation device.

[0078] In addition, in the control method of the robot system according to the first embodiment, the robot system may include a plurality of robots and a plurality of first operation devices.

[0079] Furthermore, in the control method of the robot system according to the first embodiment, the robot system includes a plurality of second operation devices, and the first permittor may be configured to turn on / off the permission for executing the operation information from the selected second operation device to the control device.

[0080] In the robot system 300 according to the first embodiment configured as described above, the first operator in the first space 100 can set on / off the permission for executing the operation information by operating the first permittor 111. In other words, the on / off of the operable state of the robot 101 can be set by the operation of the first operator.

[0081] Therefore, the first operator at a position where the robot 101 can be visually recognized can sufficiently ensure the safety when the robot 101 becomes operable by performing a safety check.

[0082] In addition, in the robot system 300 according to the first embodiment, when the first operator permits the execution of the operation information, the control device 190 causes the second operator to operate the operation device 210 and operates the robot 101 based on the input operation information. Therefore, it becomes clear that the subject of the operation of the robot 101 is the second operator, and the safety when the robot 101 operates can also be sufficiently ensured.

[0083] Furthermore, in the robot system 300 according to the first embodiment, a second operator who is at a remote location where the robot 101 cannot be directly visually recognized can operate the robot 101 without going to the remote location where the robot 101 is installed.

[0084] As a result, when the second operator is a skilled service person, the service person can perform maintenance work such as zero point correction and teaching work of the robot 101 from a remote location.

[0085] [Modification Example 1] Next, a modification example of the robot system 300 according to the first embodiment will be described. Hereinafter, an example of the robot system of Modification Example 1 in the first embodiment will be described with reference to FIG. 5.

[0086] FIG. 5 is a schematic diagram showing a schematic configuration of the robot system of Modification Example 1 in the first embodiment.

[0087] As shown in FIG. 5, the robot system 300 of this Modification Example 1 has the same basic configuration as the robot system 300 according to the first embodiment, but the first operation device 110 is configured to input operation information to the control device 190 via the first portable communication terminal 121, the communication network 320, and the communication device 122, and the second operation device 210A is configured to input operation information to the control device 190 via the second portable communication terminal 222, the communication network 320, and the communication device 122. This is different.

[0088] The communication device 122 is configured to perform data communication with the communication network 320. As the communication device 122, a known wireless communication device or a wired communication device may be used.

[0089] In the robot system of Modification 1 in Embodiment 1, the first operating device is configured to input operation information to the control device via the first portable communication terminal and the communication network, and the second operating device is configured to input operation information to the control device via the second portable terminal and the communication network.

[0090] Also, in the control method of the robot system of Modification 1 in Embodiment 1, the first operating device is configured to input operation information to the control device via the first portable communication terminal and the communication network, and the second operating device is configured to input operation information to the control device via the second portable terminal and the communication network.

[0091] Even the robot system 300 of this Modification 1 configured as described above exhibits the same operational effects as the robot system 300 according to Embodiment 1.

[0092] (Embodiment 2) Hereinafter, an example of the robot system according to Embodiment 2 will be described with reference to FIGS. 6 to 7B.

[0093] [Configuration of Robot System] FIG. 6 is a schematic diagram showing the schematic configuration of the robot system according to Embodiment 2.

[0094] As shown in FIG. 6, the robot system 300 according to Embodiment 2 has the same basic lattice pattern as the robot system 300 according to Embodiment 1, but a lamp 211 is provided on the second operating device 210A, and the control device 190 is configured to turn on the lamp 211 when the first permittor 111 permits the execution of the operation information. This is different. Note that the control device 190 may be configured to turn off the lamp 211 when the first permittor 111 does not permit the execution of the operation information.

[0095] [Operation and Effects of Robot System] Next, the operation and effects of the robot system 300 according to Embodiment 2 will be described in detail with reference to FIGS. 6 to 7B. Note that the following operations are executed by the arithmetic processor 190a of the control device 190 reading the program stored in the storage device 190b.

[0096] FIGS. 7A and 7B are flowcharts showing an example of the operation of the robot system according to Embodiment 2.

[0097] As shown in FIG. 7A, the arithmetic processor 190a of the control device 190 determines whether a control signal has been input from the first permission device 111 (step S100). When the arithmetic processor 190a of the control device 190 determines that no control signal has been input from the first permission device 111 (No in step S100), it determines whether operation information has been input from the first operation device 110 (step S101; see FIG. 7B).

[0098] When the arithmetic processor 190a of the control device 190 determines that no operation information has been input from the first operation device 110 (No in step S101), for example, after 50 msec, the process of step S100 is executed again.

[0099] On the other hand, when the arithmetic processor 190a of the control device 190 determines that operation information has been input from the first operation device 110 (Yes in step S101), it operates the robot 101 based on the operation information input from the first operation device 110 (step S102) and ends this program.

[0100] Also, as shown in FIG. 7A, when the arithmetic processor 190a of the control device 190 determines that a control signal has been input from the first permission device 111 (Yes in step S100), it determines whether operation information has been input from the second operation device 210A via the second portable communication terminal 222, the communication network 320, the first portable communication terminal 121, and the first operation device 110 (step S103).

[0101] When the arithmetic processor 190a of the control device 190 determines that no operation information has been input from the second operation device 210A (No in step S103), the processes of step S100 and step S103 are repeated until operation information is input from the second operation device 210A.

[0102] On the other hand, when the arithmetic processor 190a of the control device 190 determines that operation information has been input from the second operation device 210A (Yes in step S103), it is determined whether the control signal input from the first permittor 111 in step S100 is a signal for turning on the execution permission of the operation information from the second operation device 210A to the control device 190 (step S104).

[0103] When the arithmetic processor 190a of the control device 190 determines that the control signal input from the first permittor 111 in step S100 is not a signal for turning on the execution permission (No in step S104), even if operation information has been input in step S103, the robot 101 is not operated (step S105), and this program is terminated.

[0104] In this case, the arithmetic processor 190a of the control device 190 may cause the display device 220 to display that the execution permission of the operation information is off by the first permittor 111. Further, the arithmetic processor 190a of the control device 190 may cause the display (display screen) of the second mobile communication terminal 222 to display that the execution permission of the operation information is off by the first permittor 111.

[0105] On the other hand, when the arithmetic processor 190a of the control device 190 determines that the control signal input from the first permittor 111 in step S100 is a signal for turning on the execution permission (Yes in step S104), the lamp 211 is turned on (step S106). Thereby, the second operator can easily understand that the execution permission of the operation information is in an on state by the first permittor 111.

[0106] Next, the arithmetic processor 190a of the control device 190 determines whether operation information has been input from the first operation device 110 (step S107). When the arithmetic processor 190a of the control device 190 determines that operation information has been input from the first operation device 110 (Yes in step S107), it operates the robot 101 based on the operation information input from the first operation device 110 (step S108), and ends this program.

[0107] That is, when the first permission device 111 permits the execution of operation information (Yes in step S104), even if operation information is input from the second operation device 210A, when operation information is input from the first operation device 110 (Yes in step S107), the arithmetic processor 190a of the control device 190 operates the robot 101 based on the operation information input from the first operation device 110 (step S108).

[0108] In other words, when the first permission device 111 permits the execution of operation information (Yes in step S104), when operation information is input from the first operation device 110 (Yes in step S107), the operation information output from the second operation device 210A is not input to the control device 190, or even if it is input to the control device 190, the operation information is ignored.

[0109] On the other hand, when the arithmetic processor 190a of the control device 190 determines that no operation information has been input from the first operation device 110 (No in step S107), it operates the robot 101 based on the operation information input from the second operation device 210A (the operation information input in step S103) (step S108), and ends this program.

[0110] In the robot system according to the second embodiment, in the robot system according to the first embodiment (including the modified example), a lamp is provided in the second operation device, and the control device is configured to turn on the lamp when the first permission device permits the execution of operation information.

[0111] Also, in the robot system according to the second embodiment, even when operation information is input from the second operation device, if the first permission device permits the execution of the operation information, the control device may be configured to operate the robot based on the operation information input from the first operation device when the operation information is input from the first operation device.

[0112] In the control method of the robot system according to the second embodiment, in the control method of the robot system according to the first embodiment (including modified examples), a lamp is provided on the second operation device, and the control device is configured to turn on the lamp when the first permission device permits the execution of the operation information.

[0113] Also, in the control method of the robot system according to the second embodiment, even when operation information is input from the second operation device, if the first permission device permits the execution of the operation information, the control device may be configured to operate the robot based on the operation information input from the first operation device when the operation information is input from the first operation device.

[0114] Even the robot system 300 according to the second embodiment configured in this way has the same operational effects as the robot system 300 according to the first embodiment.

[0115] Also, in the robot system 300 according to the second embodiment, the control device 190 is configured to turn on the lamp 211 when the first permission device 111 permits the execution of the operation information. Thereby, the second operator can easily understand that the execution permission of the operation information is in the on state by the first permission device 111.

[0116] Furthermore, in the robot system 300 according to the second embodiment, when the first permittor 111 permits the execution of operation information, even if operation information is input from the second operation device 210A, when operation information is input from the first operation device 110, the control device 190 is configured to operate the robot 101 based on the operation information input from the first operation device 110.

[0117] As a result, it becomes clear that the first operation device 110 has a higher priority than the second operation device 210A. For this reason, it becomes clear that the subject of operation of the robot 101 is the first operator rather than the second operator, and the safety when the robot 101 operates can be sufficiently ensured.

[0118] (Embodiment 3) Hereinafter, an example of the robot system according to the third embodiment will be described with reference to FIG. 8.

[0119] FIG. 8 is a schematic diagram showing the schematic configuration of the robot system according to the third embodiment.

[0120] As shown in FIG. 8, the robot system 300 according to the third embodiment has the same basic configuration as the robot system 300 according to the second embodiment, but is different in that the first operation device 110 is provided with a second permittor 132. Note that in the robot system 300 according to the third embodiment, the second operation device 210A is not provided with a second permittor.

[0121] The second permittor 132 is configured to permit the automatic operation of the robot 101. The second permittor 132 permits the automatic operation of the robot 101 by the operation of the first operator, and the automatic operation of the robot 101 is executed by the control device 190.

[0122] The robot system according to Embodiment 3 is the robot system according to Embodiment 1 (including modifications) or Embodiment 2, in which the first operating device is provided with a second permitter configured to permit the automatic operation of the robot, and the second operating device is not provided with the second permitter.

[0123] Also, the control method of the robot system according to Embodiment 3 is the control method of the robot system according to Embodiment 1 (including modifications) or Embodiment 2, in which the first operating device is provided with a second permitter configured to permit the automatic operation of the robot, and the second operating device is not provided with the second permitter.

[0124] Even the robot system 300 according to Embodiment 3 configured as described above exhibits the same operational effects as the robot system 300 according to Embodiment 1.

[0125] In addition, since the second permitter 132 is provided only in the first operating device 110, it becomes clear that the subject of the operation of the automatic operation of the robot 101 is the first operator, and the safety when the robot 101 operates automatically can also be sufficiently ensured.

[0126] [Modification 1] Next, a modification of the robot system 300 according to Embodiment 3 will be described. Hereinafter, an example of the robot system of Modification 1 in Embodiment 3 will be described with reference to FIG. 9.

[0127] FIG. 9 is a schematic diagram showing the schematic configuration of the robot system of Modification 1 in Embodiment 3.

[0128] As shown in FIG. 9, the robot system 300 of this Modification 1 has the same basic configuration as the robot system 300 according to Embodiment 3, but is different in that the second operating device 210A is also provided with a second permitter 232 configured to permit the automatic operation of the robot 101.

[0129] Also, in the robot system 300 of the first modification example of the third embodiment, even when a signal for permitting the automatic operation of the robot 101 is input from the second permitter 232 provided in the second operation device 210A, the control device 190 is configured not to execute the automatic operation of the robot 101, which is different from the robot system 300 according to the third embodiment.

[0130] In the robot system of the first modification example in the third embodiment, the first operation device and the second operation device are each provided with a second permitter configured to permit the automatic operation of the robot. Even when a signal for permitting the automatic operation of the robot is input from the second permitter provided in the second operation device, the control device is configured not to execute the automatic operation of the robot.

[0131] Also, in the control method of the robot system of the first modification example in the third embodiment, the first operation device and the second operation device are each provided with a second permitter configured to permit the automatic operation of the robot. Even when a signal for permitting the automatic operation of the robot is input from the second permitter provided in the second operation device, the control device is configured not to execute the automatic operation of the robot.

[0132] Even with the robot system 300 of the first modification example configured in this way, it has the same operational effects as the robot system 300 according to the third embodiment.

[0133] Also, in the robot system 300 of the first modification example, the second operation device 210A is also provided with the second permitter 232. Thereby, the same operation device can be used for the first operation device 110 and the second operation device 210A, and the versatility of the operation device can be enhanced. Also, since the same operation device can be used, the manufacturing cost of the operation device can be reduced.

[0134] (Fourth Embodiment) Hereinafter, an example of the robot system according to the fourth embodiment will be described with reference to FIG. 10.

[0135] FIG. 10 is a schematic diagram showing a schematic configuration of the robot system according to Embodiment 4.

[0136] As shown in FIG. 10, the robot system 300 according to Embodiment 4 has the same basic configuration as the robot system 300 according to Embodiment 2, but is different in that a first regulator 141 is provided in the first operating device 110. Note that in the robot system 300 according to Embodiment 4, the first regulator is not provided in the second operating device 210A.

[0137] The first regulator 141 is configured to adjust the operating speed of the robot 101. The operating speed of the robot 101 is adjusted by the operation of the first operator, and the operating speed of the robot 101 is changed by the control device 190.

[0138] In the robot system according to Embodiment 4, in any of the robot systems according to Embodiments 1 to 3 (including modified examples), a first regulator configured to adjust the operating speed of the robot is provided in the first operating device, and the first regulator is not provided in the second operating device.

[0139] Also, in the control method of the robot system according to Embodiment 4, in the control method of any of the robot systems according to Embodiments 1 to 3 (including modified examples), a first regulator configured to adjust the operating speed of the robot is provided in the first operating device, and the first regulator is not provided in the second operating device.

[0140] Even the robot system 300 according to Embodiment 4 configured as described above exhibits the same operational effects as the robot system 300 according to Embodiment 1.

[0141] In addition, since the first adjuster 141 is provided only in the first operating device 110, it is clear that the subject of operating the operating speed of the robot 101 is the first operator, and the safety when the robot 101 operates can also be sufficiently ensured.

[0142] [Modification Example 1] Next, a modification example of the robot system 300 according to the fourth embodiment will be described.

[0143] Hereinafter, an example of the robot system of Modification Example 1 in the fourth embodiment will be described with reference to FIG. 11.

[0144] FIG. 11 is a schematic diagram showing a schematic configuration of the robot system of Modification Example 1 in the fourth embodiment.

[0145] As shown in FIG. 11, the robot system 300 of this Modification Example 1 has the same basic configuration as the robot system 300 according to the fourth embodiment, but is different in that a first adjuster 242 configured to adjust the operating speed of the robot 101 is also provided in the second operating device 210A.

[0146] Further, in the robot system 300 of this Modification Example 1, the control device 190 is configured not to change the operating speed of the robot 101 even when a signal for adjusting the operating speed of the robot 101 is input from the first adjuster 242 provided in the second operating device 210A, which is different from the robot system 300 according to the fourth embodiment.

[0147] The robot system of Modification Example 1 in the fourth embodiment is provided with first adjusters configured to adjust the operating speed of the robot in the first operating device and the second operating device, respectively, and the control device is configured not to change the operating speed of the robot even when a signal for changing the operating speed of the robot is input from the first adjuster provided in the second operating device.

[0148] In addition, in the control method of the robot system according to the first modification example in the fourth embodiment, a first adjuster configured to adjust the operating speed of the robot is provided in each of the first operating device and the second operating device, and the control device is configured not to change the operating speed of the robot even when a signal for changing the operating speed of the robot is input from the first adjuster provided in the second operating device.

[0149] Even in the robot system 300 of the first modification example configured as described above, the same operational effects as those of the robot system 300 according to the fourth embodiment are achieved.

[0150] In addition, in the robot system 300 of the first modification example, a first adjuster 242 is also provided in the second operating device 210A. As a result, the same operating device can be used for the first operating device 110 and the second operating device 210A, and the versatility of the operating device can be enhanced. Also, since the same operating device can be used, the manufacturing cost of the operating device can be reduced.

[0151] (Embodiment 5) Hereinafter, an example of the robot system according to the fifth embodiment will be described with reference to FIG. 12.

[0152] FIG. 12 is a schematic diagram showing a schematic configuration of the robot system according to the fifth embodiment.

[0153] As shown in FIG. 12, the robot system 300 according to the fifth embodiment has the same basic configuration as the robot system 300 according to the second embodiment, except that the first operating device 110 further includes a first display 151, and the second operating device 210A further includes a second display 252.

[0154] Also, in the robot system 300 according to the fifth embodiment, the first operating device 110 is configured to transmit a QR code (registered trademark) to the second operating device 210A via the first portable communication terminal 121 and the communication network 320. The second operating device 210A causes the received QR code to be displayed on the second display 252, and the second portable communication terminal 222 is configured to confirm the connection with the first portable communication terminal 121 by reading the QR code displayed on the second display 252.

[0155] Thereby, the second operator can confirm that they are connected to the robot 101 to be operated. In particular, when there are a plurality of robots 101 and a plurality of first operating devices 110 corresponding to the plurality of robots 101, the second operator can confirm that they are connected to the robot 101 to be operated.

[0156] Furthermore, in the robot system 300 according to the fifth embodiment, the second operating device 210A is configured to transmit a QR code to the first operating device 110 via the second portable communication terminal 222, the communication network 320, and the first portable communication terminal 121. The first operating device 110 causes the received QR code to be displayed on the first display 151, and the first portable communication terminal 121 is configured to confirm the connection with the second portable communication terminal 222 by reading the QR code displayed on the first display 151.

[0157] Thereby, the first operator can confirm that they are connected to the second operating device 210A of the second operator who requests the operation of the robot 101. In particular, when there are a plurality of second operating devices 210A, the first operator can confirm that they are connected to the second operating device 210A of the second operator who requests the operation of the robot 101.

[0158] The robot system according to Embodiment 5 is any of the robot systems according to Embodiments 1 to 4 (including modifications), wherein the first operating device further includes a first display, the second operating device further includes a second display, the first operating device transmits a QR code to the second operating device via the first portable communication terminal and a communication network, the second operating device causes the received QR code to be displayed on the second display, and the second portable communication terminal is configured to confirm connection with the first portable communication terminal by reading the QR code displayed on the second display.

[0159] Also, in the robot system according to Embodiment 5, the second operating device may transmit a QR code to the first operating device via the second portable communication terminal, a communication network, and the first portable communication terminal, the first operating device causes the received QR code to be displayed on the first display, and the first portable communication terminal is configured to confirm connection with the second portable communication terminal by reading the QR code displayed on the first display.

[0160] The control method of the robot system according to Embodiment 5 is any of the robot systems according to Embodiments 1 to 4 (including modifications), wherein the first operating device further includes a first display, the second operating device further includes a second display, the first operating device transmits a QR code to the second operating device via the first portable communication terminal and a communication network, the second operating device causes the received QR code to be displayed on the second display, and the second portable communication terminal is configured to confirm connection with the first portable communication terminal by reading the QR code displayed on the second display.

[0161] Also, in the control method of the robot system according to Embodiment 5, the second operating device may transmit a QR code to the first operating device via the second portable communication terminal, a communication network, and the first portable communication terminal, the first operating device causes the received QR code to be displayed on the first display, and the first portable communication terminal is configured to confirm connection with the second portable communication terminal by reading the QR code displayed on the first display.

[0162] (Embodiment 6) [Configuration of Robot System] Hereinafter, an example of the robot system according to Embodiment 6 will be described with reference to FIGS. 13 to 14B.

[0163] FIG. 13 is a schematic diagram showing the schematic configuration of the robot system according to Embodiment 6.

[0164] As shown in FIG. 13, the robot system 300 according to Embodiment 6 has the same basic configuration as the robot system 300 according to Embodiment 2, but is different in that the first operation device 110 includes a first trigger switch 161.

[0165] The first trigger switch 161 is configured to permit power supply to the driver of the robot 101. When the first operator operates (presses) the first trigger switch 161, power supply to the driver of the robot 101 is permitted. When the pressing of the first trigger switch 161 is stopped (the switch is released), power supply to the driver of the robot 101 is stopped.

[0166] Thereby, the first operator can stop the robot 101 in an emergency by stopping the pressing of the first trigger switch 161.

[0167] [Operation and Effects of Robot System] Next, the operation and effects of the robot system 300 according to Embodiment 6 will be described in detail with reference to FIGS. 13 to 14B. The following operations are executed when the arithmetic processor 190a of the control device 190 reads out the program stored in the storage 190b.

[0168] FIGS. 14A and 14B are flowcharts showing an example of the operation of the robot system according to Embodiment 6.

[0169] As shown in FIG. 14A, the arithmetic processor 190a of the control device 190 determines whether a control signal has been input from the first permittor 111 (step S200). When the arithmetic processor 190a of the control device 190 determines that no control signal has been input from the first permittor 111 (No in step S200), it determines whether operation information has been input from the first operation device 110 (step S201; see FIG. 14B).

[0170] When the arithmetic processor 190a of the control device 190 determines that no operation information has been input from the first operation device 110 (No in step S201), for example, after 50 msec, the process of step S200 is executed again.

[0171] On the other hand, when the arithmetic processor 190a of the control device 190 determines that operation information has been input from the first operation device 110 (Yes in step S201), based on the operation information input from the first operation device 110, the robot 101 is operated (step S202), and this program ends.

[0172] Also, as shown in FIG. 14A, when the arithmetic processor 190a of the control device 190 determines that a control signal has been input from the first permittor 111 (Yes in step S200), it determines whether operation information has been input from the second operation device 210A via the second mobile communication terminal 222, the communication network 320, the first mobile communication terminal 121, and the first operation device 110 (step S203).

[0173] When the arithmetic processor 190a of the control device 190 determines that no operation information has been input from the second operation device 210A (No in step S203), the processes of step S200 and step S203 are repeated until operation information is input from the second operation device 210A.

[0174] On the other hand, when the arithmetic processor 190a of the control device 190 determines that operation information has been input from the second operation device 210A (Yes in step S203), it determines whether the control signal input from the first permittor 111 in step S200 is a signal for turning on the execution permission of the operation information from the second operation device 210A to the control device 190 (step S204).

[0175] When the arithmetic processor 190a of the control device 190 determines that the control signal input from the first permittor 111 in step S200 is not a signal for turning on the execution permission (No in step S204), even if operation information has been input in step S203, it does not operate the robot 101 (step S205) and ends this program.

[0176] In this case, the arithmetic processor 190a of the control device 190 may cause the display device 220 to display that the execution permission of the operation information is off by the first permittor 111. Further, the arithmetic processor 190a of the control device 190 may cause the display (display screen) of the second mobile communication terminal 222 to display that the execution permission of the operation information is off by the first permittor 111.

[0177] On the other hand, when the arithmetic processor 190a of the control device 190 determines that the control signal input from the first permittor 111 in step S200 is a signal for turning on the execution permission (Yes in step S204), it determines whether the first trigger switch 161 is pressed (step S206). That is, the arithmetic processor 190a of the control device 190 determines whether the first operator has operated the first trigger switch 161 and the power supply to the driver of the robot 101 is permitted.

[0178] When the arithmetic processor 190a of the control device 190 determines that the first trigger switch 161 is pressed (Yes in step S206), it permits the power supply to the driver of the robot 101 (step S207), operates the robot 101 based on the operation information input from the second operation device 210A (step S208), and ends this program.

[0179] On the other hand, when the arithmetic processor 190a of the control device 190 determines that the first trigger switch 161 is not pressed (No in step S206), it does not permit power supply to the drive of the robot 101 (stops power supply to the drive of the robot 101; step S209), and ends this program.

[0180] That is, even if operation information is input from the second operation device 210A when the first permitter 111 permits execution of the operation information (Yes in step S204), when the arithmetic processor 190a of the control device 190 determines that the first trigger switch 161 is not pressed (No in step S206), it does not permit power supply to the drive of the robot 101 (stops power supply to the drive of the robot 101; step S209).

[0181] Thereby, the first operator can cause the robot 101 that was operating based on the operation information from the second operation device 210A to make an emergency stop.

[0182] In the robot system according to the sixth embodiment, in any of the robot systems according to the first to fifth embodiments (including modified examples), the first operation device includes a first trigger switch configured to permit power supply to the drive of the robot, and the control device operates the robot based on the operation information input from the second operation device when the first permitter permits execution of the operation information and the first trigger switch permits power supply to the drive of the robot, and is configured not to operate the robot based on the operation information even if the operation information is input from the second operation device when the first permitter permits execution of the operation information but the first trigger switch does not permit power supply to the drive of the robot.

[0183] Even in the robot system 300 according to the sixth embodiment configured as described above, it exhibits the same operational effects as the robot system 300 according to the first embodiment.

[0184] Also, in the robot system 300 according to the sixth embodiment, when the first permitter 111 permits the execution of the operation information and the first trigger switch 161 is pressed, the control device 190 operates the robot 101 based on the operation information input from the second operation device 210A.

[0185] This clarifies that the first operation device 110 has a higher priority than the second operation device 210A. Therefore, it is clear that the main operator of the robot 101 is the first operator rather than the second operator, and the safety when the robot 101 operates can be sufficiently ensured.

[0186] Furthermore, in the robot system 300 according to the sixth embodiment, when the first permitter 111 permits the execution of the operation information, even if operation information is input from the second operation device 210A, if the first trigger switch 161 is not pressed, the control device 190 does not permit power supply to the drive of the robot 101 (stops power supply to the drive of the robot 101).

[0187] This allows the first operator to immediately stop the robot 101 that was operating based on the operation information from the second operation device 210A. Therefore, the safety when the robot 101 operates can be sufficiently ensured.

[0188] [Modification Example 1] Next, a modification example of the robot system 300 according to the sixth embodiment will be described. Hereinafter, an example of the robot system of Modification Example 1 in the sixth embodiment will be described with reference to FIGS. 15 to 16B.

[0189] [Configuration of Robot System] FIG. 15 is a schematic diagram showing the schematic configuration of the robot system of Modification Example 1 in the sixth embodiment.

[0190] As shown in FIG. 15, the robot system 300 of the first modification example is basically the same in configuration as the robot system 300 according to the sixth embodiment, except that the second operation device 210A includes a second trigger switch 262.

[0191] The second trigger switch 262 is configured to permit power supply to the drive of the robot 101. When the second operator operates (presses) the second trigger switch 262, power supply to the drive of the robot 101 is permitted. When the pressing of the second trigger switch 262 is stopped (the switch is released), power supply to the drive of the robot 101 is stopped.

[0192] Thereby, the second operator can also cause the robot 101 to make an emergency stop by stopping the pressing of the second trigger switch 262.

[0193] [Operation and Effects of Robot System] Next, the operation and effects of the robot system 300 of the first modification example will be described in detail with reference to FIGS. 15 to 16B. The following operations are executed by the arithmetic processor 190a of the control device 190 reading the program stored in the storage 190b.

[0194] FIGS. 16A and 16B are flowcharts showing an example of the operation of the robot system of the first modification example in the sixth embodiment.

[0195] As shown in FIGS. 16A and 16B, the operation of the robot system 300 of the first modification example is basically the same as the operation of the robot system 300 according to the sixth embodiment, except that the arithmetic processor 190a of the control device 190 executes the process of step S206A instead of the process of step S206.

[0196] Specifically, when the arithmetic processor 190a of the control device 190 determines that the control signal input from the first permittor 111 in step S200 is a signal for turning on the execution permission (Yes in step S204), it determines whether the first trigger switch 161 and the second trigger switch 262 are pressed (step S206A). That is, the arithmetic processor 190a of the control device 190 determines whether the first trigger switch 161 and the second trigger switch 262 are operated by the first operator and the second operator respectively, and whether the power supply to the driver of the robot 101 is permitted.

[0197] When the arithmetic processor 190a of the control device 190 determines that the first trigger switch 161 and the second trigger switch 262 are pressed (Yes in step S206), it permits the power supply to the driver of the robot 101 (step S207), operates the robot 101 based on the operation information input from the second operating device 210A (step S208), and ends this program.

[0198] On the other hand, when the arithmetic processor 190a of the control device 190 determines that at least one of the first trigger switch 161 and the second trigger switch 262 is not pressed (No in step S206A), it does not permit the power supply to the driver of the robot 101 (stops the power supply to the driver of the robot 101; step S209), and ends this program.

[0199] That is, when the arithmetic processor 190a of the control device 190 determines that at least one of the first trigger switch 161 and the second trigger switch 262 has not been pressed even though operation information has been input from the second operation device 210A when the first permittor 111 permits the execution of the operation information (Yes in step S204), the arithmetic processor 190a does not permit power supply to the drive of the robot 101 (stops power supply to the drive of the robot 101; step S209). Thereby, not only the first operator but also the second operator can emergency stop the robot 101 that was operating based on the operation information from the second operation device 210A.

[0200] The robot system according to Modification 1 in Embodiment 6 includes a second trigger switch configured such that the second operation device permits power supply to the drive of the robot. The control device operates the robot based on the operation information input from the second operation device when the first permittor permits the execution of the operation information and both the first trigger switch and the second trigger switch permit power supply to the drive of the robot. When at least one of the first trigger switch and the second trigger switch does not permit power supply to the drive of the robot even though the first permittor permits the execution of the operation information, the control device is configured not to operate the robot based on the operation information even if the operation information is input from the second operation device.

[0201] The control method of the robot system of Modification Example 1 in Embodiment 6 includes a second trigger switch configured such that the second operating device permits power supply to the robot's driver. The control device, when the first permitter permits the execution of operation information and both the first trigger switch and the second trigger switch permit power supply to the robot's driver, operates the robot based on the operation information input from the second operating device. Even when the first permitter permits the execution of operation information, if at least one of the first trigger switch and the second trigger switch does not permit power supply to the robot's driver, the control device is configured not to operate the robot based on the operation information even if the operation information is input from the second operating device.

[0202] Even with the robot system 300 of this Modification Example 1 configured in this way, it has the same operational effects as the robot system 300 according to Embodiment 6.

[0203] Also, in the robot system 300 of this Modification Example 1, the control device 190 operates the robot 101 based on the operation information input from the second operating device 210A when the first permitter 111 permits the execution of the operation information and the first trigger switch 161 and the second trigger switch 262 are pressed.

[0204] Thereby, since the robot 101 is operated by the combined will of the first operator and the second operator, the safety when the robot 101 operates can be sufficiently ensured.

[0205] Furthermore, in the robot system 300 of this Modification Example 1, when the first permitter 111 permits the execution of the operation information, even if operation information is input from the second operating device 210A, if at least one of the first trigger switch 161 and the second trigger switch 262 is not pressed, the control device 190 does not permit power supply to the robot 101's driver (stops power supply to the robot 101's driver).

[0206] As a result, not only the first operator but also the second operator can emergency-stop the robot 101 that was operating based on the operation information from the second operation device 210A. Therefore, the safety when the robot 101 operates can be sufficiently ensured.

[0207] (Embodiment 7) Hereinafter, an example of the robot system according to Embodiment 7 will be described with reference to FIG. 17.

[0208] [Configuration of Robot System] FIG. 17 is a schematic diagram showing the schematic configuration of the robot system according to Embodiment 7.

[0209] As shown in FIG. 17, the robot system 300 according to Embodiment 7 has the same basic configuration as the robot system 300 according to Embodiment 1, but the first operation device 110 further includes a first display 151, and the second operation device 210A further includes a second display 252. The first display 151 and the second display 252 may be configured by a monitor or a display.

[0210] Also, in the robot system 300 according to Embodiment 7, the control device 190 is configured to display first information, which is information about the robot 101, on the first display 151. Here, the information about the robot 101 may be, for example, data detected by various sensors such as an encoder and a temperature sensor provided in the robot 101. Also, the information about the robot 101 may be, for example, image information of an operation screen for operating the robot 101. Also, the information about the robot 101 may be, for example, operation information (operation data) or program information (program data) input by the first operator operating the first operation device 110. Furthermore, the information about the robot 101 may be, for example, an error code.

[0211] Furthermore, in the robot system 300 according to the seventh embodiment, when a display command for the first information is input from the second operating device 210A by the second operator, the control device 190 is configured to display the first information on the display device 220 and / or the second display 252.

[0212] Thereby, information regarding the robot 101 can be shared between the first operator and the second operator. For this reason, the second operator can easily obtain the information necessary when performing the maintenance work of the robot 101, and can easily grasp the state of the robot 101. Therefore, the second operator can easily perform the maintenance work of the robot 101 from a remote location.

[0213] Note that, in the robot system 300 according to the seventh embodiment, a form including the first permitter 111 is adopted, but the present invention is not limited to this, and a form not including the first permitter 111 may be adopted.

[0214] The robot system according to the seventh embodiment includes a robot disposed in the first space, a first operating device disposed in the first space and including a first display, a second operating device disposed in a second space which is a space isolated from the first space and configured to output operation information, a display device disposed in the second space, and a control device. The control device is configured to display first information, which is information regarding the robot, on the first display, and when a display command for the first information is input from the second operating device by an operation of the second operator, the control device is configured to display the first information on the display device.

[0215] In addition, the robot system according to Embodiment 7 is the robot system according to Embodiments 1 to 6 (including modification examples), further including a first operating device disposed in the first space and including a first display, and a display device disposed in the second space. The operating device, configured to output operation information in the second space, is a second operating device. The control device is configured to display first information, which is information about the robot, on the first display. When a display command for the first information is input from the second operating device by an operation of the second operator, the control device is configured to display the first information on the display device.

[0216] Furthermore, in the robot system according to Embodiment 7, the second operating device may include a second display, and the control device may be configured to display the first information on the display device and / or the second display when a display command for the first information is input from the second operating device by an operation of the second operator.

[0217] The control method of the robot system according to Embodiment 7 includes a robot disposed in the first space, a first operating device disposed in the first space and including a first display, a second operating device disposed in a second space, which is a space isolated from the first space and configured to output operation information, a display device disposed in the second space, and a control device. The control device is configured to display first information, which is information about the robot, on the first display. When a display command for the first information is input from the second operating device by an operation of the second operator, the control device is configured to display the first information on the display device.

[0218] In addition, the control method of the robot system according to Embodiment 7 is the control method of the robot system according to Embodiments 1 to 6 (including modification examples), and further includes a first operating device disposed in the first space and provided with a first display, and a display device disposed in the second space. The operating device configured to output operation information in the second space is a second operating device. The control device is configured to display first information, which is information about the robot, on the first display. When a display command for the first information is input from the second operating device by the operation of the second operator, the control device is configured to display the first information on the display device.

[0219] Furthermore, in the control method of the robot system according to Embodiment 7, the second operating device may be provided with a second display, and the control device may be configured to display the first information on the display device and / or the second display when a display command for the first information is input from the second operating device by the operation of the second operator.

[0220] [Modification Example 1] Next, a modification example of the robot system 300 according to Embodiment 7 will be described. Hereinafter, an example of the robot system of Modification Example 1 in Embodiment 7 will be described with reference to FIGS. 18 to 19B.

[0221] [Configuration of Robot System] FIG. 18 is a schematic diagram showing a schematic configuration of the robot system of Modification Example 1 in Embodiment 7.

[0222] As shown in FIG. 18, the robot system 300 of this Modification Example 1 has the same basic configuration as the robot system 300 according to Embodiment 7, but is different in that the first operating device 110 is provided with a third permittor 113.

[0223] The third permitter 113 is configured to turn on / off the execution permission of the display command of the first information from the second operating device 210A to the control device 190. The third permitter 113 may be configured by, for example, a switch. Further, when the first display 151 is configured by a touch panel, the third permitter 113 may be configured by an icon.

[0224] Note that when the third permitter 113 turns off the execution permission of the display command of the first information from the second operating device 210A to the control device 190, it may be configured such that the display command is not input to the control device 190, it may be configured such that the display command is not output from the second operating device 210A, or the control device 190 may be configured to ignore the display command input from the second operating device 210A.

[0225] Also, in the robot system 300 of this first modification example, when a display command is input from the second operating device 210A before a control signal is input from the third permitter 113 to the control device 190, the control device 190 may be configured not to display the first information on the display device 220 and / or the second display 252.

[0226] Furthermore, the control device 190 may store the control signal (on / off information for the execution permission of the display command of the first information) input from the third permitter 113 in the storage device 190b, and based on the on / off information for the execution permission stored in the storage device 190b, be configured to determine whether to display the first information on the display device 220 and / or the second display 252.

[0227] In this case, the control device 190 may be configured to update the on / off information stored in the storage device 190b based on the control signal input from the third permitter 113.

[0228] [Operation and effects of the robot system] Next, the operations and effects of the robot system 300 of Modification 1 in Embodiment 7 will be described in detail with reference to FIGS. 18 to 19B. The following operations are executed by the arithmetic processor 190a of the control device 190 reading out the program stored in the storage device 190b.

[0229] FIGS. 19A and 19B are flowcharts showing an example of the operation of the robot system of Modification 1 in Embodiment 7.

[0230] As shown in FIG. 19A, the arithmetic processor 190a of the control device 190 determines whether a display command (signal) of the first information has been input from the second operation device 210A (step S300).

[0231] When the arithmetic processor 190a of the control device 190 determines that a display command (signal) of the first information has not been input from the second operation device 210A (No in step S300), for example, after 50 msec, the process of step S300 is executed again.

[0232] On the other hand, when the arithmetic processor 190a of the control device 190 determines that a display command (signal) of the first information has been input from the second operation device 210A (Yes in step S300), the arithmetic processor 190a of the control device 190 determines whether a control signal has been input from the third permission device 113 (step S301).

[0233] When the arithmetic processor 190a of the control device 190 determines that a control signal has been input from the third permission device 113 (Yes in step S301), it is determined whether the control signal input from the third permission device 113 in step S301 is a signal for turning on the execution permission of the display command of the first information from the second operation device 210A to the control device 190 (step S302).

[0234] On the other hand, when the arithmetic processor 190a of the control device 190 determines that no control signal has been input from the third permittor 113 (No in step S301), it executes the process of step S305. The processes after step S305 will be described later.

[0235] In the process of step S302, when the arithmetic processor 190a of the control device 190 determines that the control signal input from the third permittor 113 in step S301 is a signal for turning on the execution permission of the display command of the first information from the second operation device 210A to the control device 190 (Yes in step S302), it causes the display device 220 to display the first information (step S303) and ends this program.

[0236] At this time, the arithmetic processor 190a of the control device 190 may store in the memory 190b a signal for turning on the execution permission of the display command of the first information (on information of execution permission).

[0237] On the other hand, in the process of step S301, when the arithmetic processor 190a of the control device 190 determines that the control signal input from the third permittor 113 is a signal for turning off the execution permission of the display command of the first information from the second operation device 210A to the control device 190 (No in step S302), it does not cause the display device 220 to display the first information (step S304) and ends this program.

[0238] At this time, the arithmetic processor 190a of the control device 190 may store in the memory 190b a signal for turning off the execution permission of the display command of the first information (off information of execution permission).

[0239] Also, as shown in FIGS. 19A and 19B, when the arithmetic processor 190a of the control device 190 determines that no control signal has been input from the third permittor 113 (No in step S301), it determines whether the on / off information of the execution permission of the display command of the first information is stored in the memory 190b (step S305).

[0240] When the arithmetic processor 190a of the control device 190 determines that the on / off information of the execution permission of the display command for the first information is stored in the memory 190b (Yes in step S305), it determines whether the information stored in the memory 190b is the on information of the execution permission of the display command for the first information (step S306).

[0241] When the arithmetic processor 190a of the control device 190 determines that the information stored in the memory 190b is the on information of the execution permission of the display command for the first information (Yes in step S306), it causes the first information to be displayed on the display device 220 (step S307) and ends this program.

[0242] On the other hand, when the arithmetic processor 190a of the control device 190 determines that the information stored in the memory 190b is the off information of the execution permission of the display command for the first information (No in step S306), it does not cause the first information to be displayed on the display device 220 (step S308) and ends this program.

[0243] Also, when the arithmetic processor 190a of the control device 190 determines in the process of step S305 that the on / off information of the execution permission of the display command for the first information is not stored in the memory 190b (No in step S305), it does not cause the first information to be displayed on the display device 220 (step S308) and ends this program.

[0244] In the robot system of Modification 1 according to Embodiment 7, the first operating device further includes a third permission device configured to turn on / off the execution permission of the display command of the first information from the second operating device to the control device. When the third permission device permits the execution of the display command of the first information by the operation of the first operator, the control device causes the display device to display the first information based on the display command of the first information input from the second operating device by the operation of the second operator. When the third permission device does not permit the execution of the display command of the first information by the operation of the first operator, even if the display command of the first information is input from the second operating device by the operation of the second operator, the control device is configured not to cause the display device to display the first information based on the display command of the first information.

[0245] Also, in the control method of the robot system of Modification 1 according to Embodiment 7, the first operating device further includes a third permission device configured to turn on / off the execution permission of the display command of the first information from the second operating device to the control device. When the third permission device permits the execution of the display command of the first information by the operation of the first operator, the control device causes the display device to display the first information based on the display command of the first information input from the second operating device by the operation of the second operator. When the third permission device does not permit the execution of the display command of the first information by the operation of the first operator, even if the display command of the first information is input from the second operating device by the operation of the second operator, the control device is configured not to cause the display device to display the first information based on the display command of the first information.

[0246] Even in the robot system 300 of this Modification 1 configured as described above, the same operational effects as those of the robot system 300 according to Embodiment 7 are achieved.

[0247] In the robot system 300 of this Modification 1, although the form of displaying the first information on the display device 220 is adopted, it is not limited thereto, and the first information may be displayed on the display device 220 and / or the second display 252.

[0248] (Embodiment 8) Hereinafter, an example of the robot system according to the eighth embodiment will be described with reference to FIG. 20.

[0249] [Configuration of Robot System] FIG. 20 is a schematic diagram showing the schematic configuration of the robot system according to the eighth embodiment.

[0250] As shown in FIG. 20, the robot system 300 according to the eighth embodiment has the same basic configuration as the robot system 300 according to the seventh embodiment, but the control device 190 is configured to change the first information when a change command for the first information is input from the second operation device 210A by the operation of the second operator.

[0251] Here, the change of the first information may be, for example, a change of operation information (operation data) or program information (program data), or may be the cancellation of an error code.

[0252] The robot system according to the eighth embodiment is configured such that, in the robot system according to the seventh embodiment, when a change command for the first information is input from the second operation device by the operation of the second operator, the control device changes the first information.

[0253] The control method of the robot system according to the eighth embodiment is configured such that, in the control method of the robot system according to the seventh embodiment, when a change command for the first information is input from the second operation device by the operation of the second operator, the control device changes the first information.

[0254] Even the robot system 300 according to the eighth embodiment configured as described above exhibits the same operational effects as the robot system 300 according to the seventh embodiment.

[0255] Also, in the robot system 300 according to the eighth embodiment, the control device 190 is configured to change the first information when a change command for the first information is input from the second operation device 210A by the operation of the second operator.

[0256] Accordingly, the second operator can easily perform maintenance work on the robot 101 from a remote location.

[0257] [Modification Example 1] Next, a modification example of the robot system 300 according to the eighth embodiment will be described. Hereinafter, an example of the robot system of Modification Example 1 in the eighth embodiment will be described with reference to FIGS. 21 to 22B.

[0258] [Configuration of Robot System] FIG. 21 is a schematic diagram showing a schematic configuration of the robot system of Modification Example 1 in the eighth embodiment.

[0259] As shown in FIG. 21, the robot system 300 of this Modification Example 1 has the same basic configuration as the robot system 300 according to the eighth embodiment, but is different in that the first operation device 110 includes a fourth permittor 114.

[0260] The fourth permittor 114 is configured to turn on / off the execution permission of the change command of the first information from the second operation device 210A to the control device 190. The fourth permittor 114 may be configured by, for example, a switch. Further, when the first display 151 is configured by a touch panel, the fourth permittor 114 may be configured by an icon.

[0261] Note that when the fourth permittor 114 turns off the execution permission of the change command of the first information from the second operation device 210A to the control device 190, it may be configured such that the change command is not input to the control device 190, it may be configured such that the change command is not output from the second operation device 210A, or the control device 190 may be configured to ignore the change command input from the second operation device 210A.

[0262] Further, in the robot system 300 of the first modification example, the control device 190 may be configured not to change the first information when a change command is input from the second operation device 210A before a control signal is input from the fourth permission device 114.

[0263] Furthermore, the control device 190 may store the control signal (on / off information for permitting execution of the change command of the first information) input from the fourth permission device 114 in the storage device 190b, and may be configured to determine whether to change the first information based on the on / off information of the execution permission stored in the storage device 190b.

[0264] In this case, the control device 190 may be configured to update the on / off information stored in the storage device 190b based on the control signal input from the fourth permission device 114.

[0265] [Operation and Effects of Robot System] Next, the operation and effects of the robot system 300 of the first modification example in the eighth embodiment will be described in detail with reference to FIGS. 21 to 22B. The following operations are executed by the arithmetic processor 190a of the control device 190 reading the program stored in the storage device 190b.

[0266] FIGS. 22A and 22B are flowcharts showing an example of the operation of the robot system of the first modification example in the eighth embodiment.

[0267] As shown in FIG. 22A, the arithmetic processor 190a of the control device 190 determines whether a change command (signal) of the first information is input from the second operation device 210A (step S400).

[0268] When the arithmetic processor 190a of the control device 190 determines that a change command (signal) of the first information is not input from the second operation device 210A (No in step S400), for example, after 50 msec, the process of step S400 is executed again.

[0269] On the other hand, when the arithmetic processor 190a of the control device 190 determines that a change command (signal) of the first information has been input from the second operation device 210A (Yes in step S400), it determines whether a control signal has been input from the fourth permission device 114 (step S401).

[0270] When the arithmetic processor 190a of the control device 190 determines that a control signal has been input from the fourth permission device 114 (Yes in step S401), it determines whether the control signal input from the fourth permission device 114 in step S401 is a signal for turning on the execution permission of the change command of the first information from the second operation device 210A to the control device 190 (step S402).

[0271] On the other hand, when the arithmetic processor 190a of the control device 190 determines that no control signal has been input from the fourth permission device 114 (No in step S401), it executes the process of step S405. Note that the processes after step S405 will be described later.

[0272] When the arithmetic processor 190a of the control device 190 determines in the process of step S402 that the control signal input from the fourth permission device 114 in step S401 is a signal for turning on the execution permission of the change command of the first information from the second operation device 210A to the control device 190 (Yes in step S402), it changes the first information (step S403) and ends this program.

[0273] At this time, the arithmetic processor 190a of the control device 190 may store a signal (on information of execution permission) for turning on the execution permission of the change command of the first information in the storage device 190b.

[0274] On the other hand, when the arithmetic processor 190a of the control device 190 determines that the control signal input from the fourth permission device 114 in step S401 is a signal for turning off the execution permission of the change command of the first information from the second operation device 210A to the control device 190 (No in step S402), it does not change the first information (step S404) and ends this program.

[0275] At this time, the arithmetic processor 190a of the control device 190 may cause the memory 190b to store a signal (execution permission off information) for turning off the execution permission of the change command for the first information.

[0276] Also, as shown in FIGS. 22A and 22B, when the arithmetic processor 190a of the control device 190 determines that no control signal is input from the fourth permission device 114 (No in step S401), it determines whether on / off information of the execution permission of the change command for the first information is stored in the memory 190b (step S405).

[0277] When the arithmetic processor 190a of the control device 190 determines that on / off information of the execution permission of the change command for the first information is stored in the memory 190b (Yes in step S405), it determines whether the information stored in the memory 190b is on information of the execution permission of the change command for the first information (step S406).

[0278] When the arithmetic processor 190a of the control device 190 determines that the information stored in the memory 190b is on information of the execution permission of the change command for the first information (Yes in step S406), it causes the first information to be changed (step S407) and ends this program.

[0279] On the other hand, when the arithmetic processor 190a of the control device 190 determines that the information stored in the memory 190b is off information of the execution permission of the change command for the first information (No in step S406), it does not change the first information (step S408) and ends this program.

[0280] Also, when the arithmetic processor 190a of the control device 190 determines in the process of step S405 that on / off information of the execution permission of the change command for the first information is not stored in the memory 190b (No in step S405), it does not change the first information (step S408) and ends this program.

[0281] In the robot system of Modification Example 1 in Embodiment 8, the first operating device further includes a fourth permission device configured to turn on / off the execution permission of the change command of the first information from the second operating device to the control device. When the fourth permission device permits the execution of the change command of the first information by the operation of the first operator, the control device changes the first information based on the change command of the first information input from the second operating device by the operation of the second operator. When the fourth permission device does not permit the execution of the change command of the first information by the operation of the first operator, even if the change command of the first information is input from the second operating device by the operation of the second operator, the control device is configured not to change the first information based on the change command of the first information.

[0282] In the control method of the robot system of Modification Example 1 in Embodiment 8, the first operating device further includes a fourth permission device configured to turn on / off the execution permission of the change command of the first information from the second operating device to the control device. When the fourth permission device permits the execution of the change command of the first information by the operation of the first operator, the control device changes the first information based on the change command of the first information input from the second operating device by the operation of the second operator. When the fourth permission device does not permit the execution of the change command of the first information by the operation of the first operator, even if the change command of the first information is input from the second operating device by the operation of the second operator, the control device is configured not to change the first information based on the change command of the first information.

[0283] Even the robot system 300 of this Modification Example 1 configured as described above has the same effects as the robot system 300 according to Embodiment 7.

[0284] From the above description, many improvements or other embodiments of the present disclosure will be apparent to those skilled in the art. Therefore, the above description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the present disclosure. Without departing from the present disclosure, the details of its structure and / or function can be substantially changed.

Industrial Applicability

[0285] According to the robot system and its control method of the present disclosure, the subject of the robot's operation is clarified, and the safety when the robot operates can be sufficiently ensured. Therefore, it is useful in the field of robots.

Explanation of Signs

[0286] 11a First link 11b Second link 11c Third link 11d Fourth link 11e Fifth link 11f Sixth link 12 End effector 15 Base 100 First space 101 Robot 110 First operating device 111 First permittor 112 Emergency stop device 113 Third permittor 114 Fourth permittor 120 Imaging device 121 First portable communication terminal 122 Communication device 132 Second permittor 141 First adjuster 151 First display 161 First trigger switch 190 Control device 190a Arithmetic processor 190b Memory 190c Input device 200 Second space 210A Second operating device 211 Lamp 220 Display device 222 Second portable communication terminal 232 Second permittor 242 First adjuster 252 Second display 262 Second trigger switch 300 Robot system 310 Partition member 320 Communication Network JT1 First Joint JT2 Second Joint JT3 Third Joint JT4 Fourth Joint JT5 Fifth Joint JT6 Sixth Joint

Claims

1. An industrial robot disposed in a first space, a first operating device disposed in the first space and configured to receive an input of first operation information for operating the industrial robot from a first operator in the first space; a second operating device disposed in a second space, which is a space isolated from the first space, and configured to receive an input of second operation information for operating the industrial robot from a second operator in the second space; a photographing device disposed in the first space, configured to be detachable from the first operating device, and composed of a first portable communication terminal; a first display device disposed in the second space and configured to display video information or image information photographed by the photographing device; a second portable communication terminal configured to be detachable from the second operating device; and a control device, wherein the first operating device and the second operating device are each capable of outputting the first operation information or the second operation information, the first operating device is connected to the control device by wire, the second operating device is configured to input the second operation information to the control device via the second portable communication terminal, a communication network, the first portable communication terminal, and the first operating device, the first operating device includes a first permission device configured to turn on / off execution permission of the second operation information from the second operating device to the control device, the control device, when the first permission device permits execution of the second operation information by an operation of the first operator, receives the second operation information input from the second operating device by an operation of the second operator, and when the first permission device does not permit execution of the second operation information by an operation of the first operator, is configured not to receive the second operation information even if the second operation information is input from the second operating device by an operation of the second operator, the first operating device further includes a first display, the second operating device further includes a second display, the first operating device transmits a QR code (registered trademark) to the second operating device via the first portable communication terminal and the communication network, and the second operating device causes the received QR code (registered trademark) to be displayed on the second display. The robot system is configured such that the second mobile communication terminal checks the connection with the first mobile communication terminal by reading the QR code (registered trademark) displayed on the second display. **Claim 2**: An industrial robot disposed in a first space, a first operating device disposed in the first space and configured to receive an input of first operation information for operating the industrial robot from a first operator in the first space, a second operating device disposed in a second space, which is a space isolated from the first space, and configured to receive an input of second operation information for operating the industrial robot from a second operator in the second space, and a control device. The first operating device includes a first permitter configured to turn on / off permission for execution of the second operation information from the second operating device to the control device, and a first trigger switch configured to permit power supply to a driver of the industrial robot. The first operating device and the second operating device are each capable of outputting the first operation information or the second operation information. The control device receives the second operation information input from the second operating device by an operation of the second operator when the first permitter permits execution of the second operation information by an operation of the first operator, and does not receive the second operation information even if the second operation information is input from the second operating device by an operation of the second operator when the first permitter does not permit execution of the second operation information by an operation of the first operator. When the first permitter permits execution of the second operation information and the first trigger switch permits power supply to the driver of the industrial robot, the industrial robot is operated based on the second operation information input from the second operating device. When the first permitter permits execution of the second operation information but the first trigger switch does not permit power supply to the driver of the industrial robot, the industrial robot is not operated based on the second operation information even if the second operation information is input from the second operating device. The second operating device includes a second trigger switch configured to permit power supply to a driver of the industrial robot. When the control device permits the first permittor to execute the second operation information and both the first trigger switch and the second trigger switch permit power supply to the drive of the industrial robot, the control device operates the industrial robot based on the second operation information input from the second operation device. Even when the first permittor permits the execution of the second operation information, if at least one of the first trigger switch and the second trigger switch does not permit power supply to the drive of the industrial robot, the control device is configured not to operate the industrial robot based on the second operation information even if the second operation information is input from the second operation device. A robot system.

3. An industrial robot disposed in a first space, A first operation device disposed in the first space and receiving an input of first operation information for operating the industrial robot from a first operator in the first space; A second operation device disposed in a second space, which is a space isolated from the first space, and receiving an input of second operation information for operating the industrial robot from a second operator in the second space; The first operation device disposed in the first space and including a second display; A second display device disposed in the second space; A control device; The first operation device and the second operation device can each output the first operation information or the second operation information. The first operation device includes a first permittor configured to turn on / off permission for execution of the second operation information from the second operation device to the control device. The control device When the first permittor permits the execution of the second operation information by the operation of the first operator, the control device receives the second operation information input from the second operation device by the operation of the second operator. When the first permittor does not permit the execution of the second operation information by the operation of the first operator, the control device does not receive the second operation information even if the second operation information is input from the second operation device by the operation of the second operator. The control device displays first information, which is information about the industrial robot, on the second display. When a display command for the first information is input from the second operation device by the operation of the second operator, the control device causes the second display device to display the first information. When a change command for the first information is input from the second operating device by the operation of the second operator, it is configured to change the first information. The first operating device further includes a fourth permission device configured to turn on / off the execution permission of the change command of the first information from the second operating device to the control device. When the fourth permission device permits the execution of the change command of the first information by the operation of the first operator, the control device changes the first information based on the change command of the first information input from the second operating device by the operation of the second operator. When the fourth permission device does not permit the execution of the change command of the first information by the operation of the first operator, even if a change command of the first information is input from the second operating device by the operation of the second operator, the control device is configured not to change the first information based on the change command of the first information. A robot system.

Images